// --------------------------------------------------------------------------------------------------------------------
// <copyright file="KinectConverterAgent.cs" company="Microsoft Corporation">
// The MIT License (MIT)
// 
// Copyright (c) 2014, Microsoft Corporation
// 
// Permission is hereby granted, free of charge, to any person obtaining a copy
//  of this software and associated documentation files (the "Software"), to deal
//  in the Software without restriction, including without limitation the rights
//  to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
//  copies of the Software, and to permit persons to whom the Software is
//  furnished to do so, subject to the following conditions:
// 
// The above copyright notice and this permission notice shall be included in
//  all copies or substantial portions of the Software.
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// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
//  IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
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//  THE SOFTWARE.
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// --------------------------------------------------------------------------------------------------------------------
namespace Microsoft.Robotics.Vision.Runtime.Cameras.Kinect
{
    using System;
    using System.Collections.ObjectModel;
    using System.Drawing;
    using System.Runtime.Serialization;

    using Microsoft.Kinect;
    using Microsoft.Robotics.Numerics;
    using Microsoft.Robotics.Runtime;
    using Microsoft.Robotics.Vision.Cameras;
    using Microsoft.Robotics.Vision.Cameras.Kinect;

    /// <summary>
    /// Class converts a Kinect recording that was made using the KinectAgentRawMessage and converts the recording
    /// and saves the message as DepthCameraAgentMessages
    /// </summary>
    [DataContract]
    public class KinectConverterAgent : ConsumerProducerAgent<KinectAgentRawMessage, DepthCameraAgentMessage<KinectDepthCameraParameters>>
    {
        /// <summary>
        /// Initializes a new instance of the KinectConverterAgent class
        /// </summary>
        /// <param name="name">The name of the agent</param>
        /// <param name="kinectProducer">The producer of kinect messages</param>
        public KinectConverterAgent(
            string name,
            IProducer<KinectAgentRawMessage> kinectProducer)
            : base(name, kinectProducer.Name)
        {
        }

        /// <summary>
        /// Called when a KinectAgentRawMessage is received
        /// </summary>
        /// <param name="message">The received message</param>
        public override void Receive(KinectAgentRawMessage message)
        {
            Console.Write("\rProcessing message with originating time = {0}", message.OriginatingTime);

            // old message do not contain camera intrinics or lens distortion in the recording
            DepthParameters depthParameters = new DepthParameters(
                CameraParameters.CreateIntrinsics(0, 0, 0, 0),
                new LensDistortion(),
                message.FieldOfView,
                message.FieldOfView,
                message.Pose,
                message.FurtherThanMaxDepthValue,
                message.NearerThanMinDepthValue,
                message.NoReadingValue);

            KinectDepthCameraParameters parameters = new KinectDepthCameraParameters(
                depthParameters,
                DepthImageFormat.Resolution640x480Fps30,
                DepthRange.Default,
                false,
                null,
                null);

            DepthCameraAgentMessage<KinectDepthCameraParameters> convertedMessage = new DepthCameraAgentMessage<KinectDepthCameraParameters>(
                message.OriginatingTime, 
                message.DepthFrame, 
                parameters);

            this.Publisher.Post(convertedMessage, true);
        }
    }
}
